CN107336700A - A kind of emergency vehicle method and system in slope - Google Patents
A kind of emergency vehicle method and system in slope Download PDFInfo
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- CN107336700A CN107336700A CN201611177039.6A CN201611177039A CN107336700A CN 107336700 A CN107336700 A CN 107336700A CN 201611177039 A CN201611177039 A CN 201611177039A CN 107336700 A CN107336700 A CN 107336700A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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Abstract
The invention discloses a kind of emergency vehicle method and system in slope, this method includes：Detect whether current shift is neutral；If it is, whether detection currently steps on brake pedal, if it is not, then according to the level of travel direction flag demarcated in advance in the information of wheel speed sensors transmission, vehicle whether forward car slipping or car slipping backward are judged；When car slipping backward, rear axle brake vi is controlled to carry out parking braking by electronics hand brake valve；When car slipping forward, control rear axle brake vi to carry out parking braking by electronics hand brake valve, and control front brake to carry out parking braking by temporary parking valve, wherein, temporary parking valve is connected between gas receiver and preceding anti-blocking brake system magnetic valve.Because the present invention is according to rolling direction selection more suitably parking braking mode, the vehicle method in slope that can solve the problems, such as prior art using the present invention can not meet actual demand.
Description
Technical field
The present invention relates to technical field of electronic control, more particularly to a kind of emergency vehicle method and system in slope.
Background technology
As vehicle population is increasing, the active safety of vehicle increasingly obtains the attention of people.In life often
Be commonly encountered because after parking parking handle do not draw cause vehicle occur " slipping by slope " phenomenon, cause life and property loss it is serious after
Fruit.
Whether the emergency vehicle method in slope of prior art is mainly detected in main seat by seating pressure sensor has
People, and detect whether current shift is forward gear or retreating gear by shift sensor, if no one in main seat, and would work as front
Position is forward gear or retreating gear, then controls brakes to carry out parking braking.But extra setting seating pressure is so needed to pass
Sensor；Also, current shift is neutral, and when vehicle is located at ramp, car slipping phenomenon still may occur.In addition, when vehicle is located at
When having the road surface in ramp, when headstock is towards direction of fall, then the axle load of vehicle can be shifted forward, i.e., fore bearing is more carried
Lotus, when headstock can bear more load towards the axle load meeting shifts backward in upward slope direction, then vehicle, i.e. rear axle.Cargo vehicle
Parking system be typically all to act on rear axle, when headstock is towards during direction of fall parking, when there is slipping by slope phenomenon,
The parking braking of rear axle may have the problem of braking effect can not meet to require.
The content of the invention
The invention provides a kind of emergency vehicle method and system in slope, and the vehicle method in slope for solving prior art can not
The problem of meeting actual demand.
The invention provides a kind of emergency vehicle method in slope, including：
Detect whether current shift is neutral；
If it is, whether detection currently steps on brake pedal；
If it is not, then the level for the travel direction flag demarcated in advance in the information sent according to wheel speed sensors, sentences
Disconnected vehicle whether forward car slipping or car slipping backward；
When car slipping backward, rear axle brake vi is controlled to carry out parking braking by electronics hand brake valve；
When car slipping forward, rear axle brake vi is controlled to carry out parking braking by electronics hand brake valve, and by stopping temporarily
Car valve control front brake carries out parking braking, wherein, temporary parking valve is connected to gas receiver and preceding anti-blocking brake system electricity
Between magnet valve.
Preferably, demarcating the travel direction flag demarcated in advance includes：
Wheel speed sensors are provided, wheel speed sensors include：Gear ring and Hall sensor, gear ring include circle body and are uniformly distributed
Teeth portion on circle body；
On Hall sensor after electricity, being exported in ring gear against rotation has high level and low level square-wave signal；
Increase the resistance value between hall sensor output and ground connection so that the difference between high level and low level becomes
Greatly, and Hall sensor exports in ring gear against rotation and has high level, middle level and low level square-wave signal, wherein, it is adjacent
Two high level between several middle level be present；
A middle level position corresponding with vehicle traveling direction, which is chosen, from the opening position of several middle level is used as traveling side
To flag.
Preferably, methods described also includes：
In debugging out after level, the difference that teeth portion is shaped such that between middle level and high level, low level is adjusted
Become big, wherein, teeth portion after adjustment is shaped as：Clockwise surface configuration and anticlockwise surface configuration not phase
Together.
Preferably, teeth portion after adjustment is shaped as：
Clockwise surface configuration is concave surface, and anticlockwise surface configuration is plane；Or
Clockwise surface configuration is concave surface, and anticlockwise surface configuration is convex surface；Or
Clockwise surface configuration is plane, and anticlockwise surface configuration is convex surface；Or
Clockwise surface configuration is S-shaped cambered surface, and anticlockwise surface configuration is plane.
Preferably, the teeth portion is shaped as：Clockwise surface configuration is concave surface, anticlockwise surface shape
Shape is plane；
The opening position from several middle level chooses a middle level position corresponding with vehicle traveling direction as row
Sailing direction signs position includes：
Determine the number of the middle level between two adjacent high level；
Communication protocol is set, the level of level position corresponds to a byte in communication protocol, each byte in each
The height of the level of the level position is represented, wherein, middle level corresponding 1, low level corresponding 0；
Gear ring is rotated, compares the direction of each byte and ring gear against rotation in the signal of sensor output；
If level position correspondence byte is 0 when ring gear against rotation direction is clockwise in some, and the byte is in tooth
It is 1 to enclose when rotation direction is counterclockwise, then the byte can be used as travel direction flag；
One is chosen from the byte that can be used as travel direction flag and is used as travel direction flag.
Correspondingly, present invention also offers a kind of emergency vehicle system in slope, including：
The shift sensor 2 that is connected respectively with electronic control unit 1, wheel speed sensors 3, electronics hand brake valve 4, braking are anti-
Locking system 5, brake pedal sensor 6 and temporary parking valve 51；
Shift sensor 2 is used to gather current shift information, and is sent to electronic control unit 1；
Brake pedal sensor 6 is used to gather whether step on brake pedal, and is sent to electronic control unit 1；
Wheel speed sensors 3 are used to the information of collection being sent to electronic control unit 1, wherein, what wheel speed sensors 3 were sent
Information comprises at least the level for the travel direction flag demarcated in advance；
Electronic control unit 1 is used to judge whether current shift is neutral, if it is, judging whether driver steps on braking
Pedal, if it is not, then the level for the travel direction flag demarcated in advance in the information sent according to wheel speed sensors 3, judges
Forward whether vehicle car slipping or car slipping backward, when car slipping backward, pass through electronics hand brake valve 4 and control rear axle brake vi to carry out
Parking braking, when car slipping forward, rear axle brake vi is controlled to carry out parking braking by electronics hand brake valve 4, and by interim
Shut-off valve control front brake carries out parking braking；
Electronics hand brake valve 4, spring energy-storage air chamber and the rear axle brake vi being sequentially connected with electronic control unit 1, electronics
When control unit 1 judges to need to carry out parking braking, parking message is sent, after electronics hand brake valve 4 receives parking message, is closed
The gas outlet of electronics hand brake valve 4 is closed, spring energy-storage air chamber is pressurized to control rear axle brake vi to carry out parking braking；
Anti-blocking brake system 5 includes：Gas receiver, preceding braking anti-lock magnetic valve, the preceding system being connected with preceding wheel cylinder
Dynamic device；Temporary parking valve 51 is connected between the gas receiver of anti-blocking brake system 5 and preceding anti-blocking brake system magnetic valve, electricity
When sub-control unit 1 judges to need front brake progress parking braking, the pressure of wheel cylinder before control temporary parking valve 51 increases
Power with control front brake carry out parking braking.
Preferably, the wheel speed sensors 3 include：
Gear ring 31, Hall sensor 32, electric capacity 33, resistance 34 and regulation resistance 35, the footpath of the probe of Hall sensor 32
It is generally aligned in the same plane to extended line through the center of circle of gear ring 31 and with gear ring 31, the power end and output end of Hall sensor 32
Between an in parallel electric capacity 33, the output end of Hall sensor 32 is also grounded and is connected with electronic control unit 1 respectively, and resistance 34 is gone here and there
It is associated between output end and the ground connection of Hall sensor 32；
Regulation resistance 35, it is connected between output end and the ground connection of Hall sensor 32, for increasing Hall sensor 32
Resistance value between output end and ground connection so that the difference between high level and low level becomes big, and causes Hall sensor 32
When gear ring 31 rotates, output has high level, middle level and low level square-wave signal, and electric capacity 33 strobes, wherein,
Several middle level be present between two adjacent high level；
Electronic control unit 1 chooses one specifically for position corresponding to several middle level from the square-wave signal of reception
Middle level position corresponding with vehicle traveling direction is as travel direction flag, then according to the level of travel direction flag
Height determine the travel direction of vehicle.
Preferably, the gear ring 31 includes：Circle body and the teeth portion being evenly distributed on circle body；
The teeth portion is shaped such that the difference between middle level and high level, low level becomes big；
The teeth portion is shaped as：Clockwise surface configuration and anticlockwise surface configuration differ.
Preferably, the shape of the teeth portion includes：
Clockwise surface configuration is concave surface, and anticlockwise surface configuration is plane；Or
Clockwise surface configuration is concave surface, and anticlockwise surface configuration is convex surface；Or
Clockwise surface configuration is plane, and anticlockwise surface configuration is convex surface；Or
Clockwise surface configuration is S-shaped cambered surface, and anticlockwise surface configuration is plane.
Preferably, the teeth portion is shaped as：Clockwise surface configuration is concave surface, anticlockwise surface shape
Shape is plane；
The electronic control unit 1 is specifically used for：
During the setting of communication protocol：Determine the number of the middle level between two adjacent high level；To be each
One byte of individual middle level position setting, the height of the level of each byte representation level position, wherein, middle level corresponding 1,
Low level corresponding 0；When gear ring 31 rotates, the side that each byte and gear ring 31 rotate in the signal that Hall sensor 32 exports is compared
To uniformity, determine travel direction flag；Wherein, travel direction flag at least meets following condition：Byte is in gear ring
31 rotation directions are 0 when being clockwise, and are 1 when the rotation direction of gear ring 31 is counterclockwise；
During emergency vehicle stays slope：Electronic control unit 1 determines the row of vehicle according to the value of travel direction flag
Direction is sailed, wherein, when travel direction flag is 0, vehicle heading is to move forward；When travel direction flag is 1, car
Travel direction is travels backward.
A kind of emergency vehicle method and system in slope provided by the invention, whether detection current shift is neutral；If it is,
Then whether detection currently steps on brake pedal；If it is not, then the traveling side demarcated in advance in the information sent according to wheel speed sensors
To the level of flag, vehicle whether forward car slipping or car slipping backward are judged；When car slipping backward, pass through electronics hand brake valve
Rear axle brake vi is controlled to carry out parking braking；When car slipping forward, rear axle brake vi is controlled to be stayed by electronics hand brake valve
Car brake, and by temporary parking valve control front brake carry out parking braking, wherein, temporary parking valve be connected to gas receiver and
Between preceding anti-blocking brake system magnetic valve.Because whether the real time monitoring signals vehicle sent according to wheel speed sensors moves,
Thus than according to whether in forward range or reversing gear, judging whether to need the judgement for carrying out automatic parking brake more
Accurately.Further, since the wheel speed sensors can also judge the moving direction of vehicle, so that the present invention can be directed to forward
Slip by slope or slip by slope selection more suitably mode of braking backward, only with rear axle brake vi when such as slipping by slope backward, slip forward
Parking braking is then carried out using parking braking and brake hard two ways simultaneously during slope, after solving to cause due to axle load reach
The problem of bridge brake is ineffective.
Further, emergency vehicle method and system in slope provided by the invention, judged using gear ring and Hall sensor
Whether vehicle is in the state advanced or retreated.Specifically, in the calibration process of traveling direction signs position：Passed by increasing Hall
Resistance value between sensor output end and ground connection so that the difference between high level and low level becomes big, and Hall sensor exists
Output has high level, middle level and low level square-wave signal during ring gear against rotation, wherein, deposited between adjacent two high level
In several middle level；A middle level position corresponding with vehicle traveling direction is chosen as row from the opening position of several middle level
Sail direction signs position.During emergency vehicle stays slope：The row of vehicle is determined according to the height of the level of travel direction flag
Sail direction.Prior art generally use gear ring and Hall sensor collection rotary speed information, but directional information can not be gathered, this
Invention is exported by adjusting the resistance value Hall sensor between hall sensor output and ground connection in ring gear against rotation
With high level, middle level and low level square-wave signal, and middle level can be used for characterizing the travel direction of vehicle.Utilize this
Invention itself can be the problem of being in forward travel state or fallback state with fast automatic identify.
Further, emergency vehicle method and system in slope provided by the invention, can also be by adjusting the shape of teeth portion
So that the difference between middle level and high level, low level becomes big.So it is easy to distinguish high level and low level difference, especially
When level in also existing so that the difference between middle level and high level, low level becomes apparent from, and improves travel direction flag
Level recognition accuracy.
Further, emergency vehicle method and system in slope provided by the invention, the shape of specific teeth portion is additionally provided：
Clockwise surface configuration is concave surface, and anticlockwise surface configuration is plane etc..Such teeth portion shape can be more preferable
Debugging go out middle level, in order to according in fast automatic identify of level itself be to be in forward travel state or fallback state.
Further, emergency vehicle method and system in slope provided by the invention, additionally provide specifically travel direction mark
Know position and choose mode：Communication protocol is set, the level of level position corresponds to a byte in communication protocol in each, according to
Whether each byte unanimously determines whether each byte can be used as travel direction flag with ring gear against rotation direction, if it is, therefrom
A byte is chosen as travel direction flag.Travel direction flag so simply can be accurately selected, in order to
Subsequently judge that Current vehicle is to be in forward travel state or fallback state according to the value of travel direction flag.
Brief description of the drawings
, below will be to institute in embodiment in order to illustrate more clearly of the embodiment of the present application or technical scheme of the prior art
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only one described in the present invention
A little embodiments, for those of ordinary skill in the art, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of flow chart according to emergency vehicle method in slope provided in an embodiment of the present invention；
Fig. 2 is a kind of flow chart according to the determination method of travel direction flag provided in an embodiment of the present invention；
Fig. 3 is a kind of structural representation of the active wheel speed sensor of prior art；
Fig. 4 is the square wave figure that the active wheel speed sensor of prior art exports；
Fig. 5 is the square wave figure exported according to Hall sensor provided in an embodiment of the present invention；
Fig. 6 is another flow chart according to the determination method of travel direction flag provided in an embodiment of the present invention；
Fig. 7 is one according to the method provided in an embodiment of the present invention that travel direction flag is chosen from several middle level
Kind flow chart；
Fig. 8 is a kind of structural representation according to emergency vehicle system in slope provided in an embodiment of the present invention；
Fig. 9 is a kind of structural representation according to brake piping provided in an embodiment of the present invention；
Figure 10 is a kind of circuit diagram according to wheel speed sensors provided in an embodiment of the present invention.
Reference：
In Fig. 1-Figure 10：
The regulation resistance of 1 electronic control unit 35
The electronics hand brake valve of 2 shift sensor 4
The anti-blocking brake system of 3 wheel speed sensors 5
The temporary parking valve of 31 gear ring 51
The brake pedal sensor of 32 Hall sensor 6
The gear ring of 33 electric capacity 1 '
The Hall sensor of 34 resistance 2 '
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar parameter or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, is only used for explaining the present invention, and is not construed as limiting the claims.
In order to be better understood from technical scheme and technique effect, below with reference to schematic flow sheet to specific
Embodiment is described in detail.As shown in figure 1, it is one kind according to emergency vehicle method in slope provided in an embodiment of the present invention
Flow chart, this method may comprise steps of：
Step S01, whether detection current shift is neutral.
In the present embodiment, current shift information can be obtained by shift sensor, is then sentenced by electronic control unit
Whether disconnected current shift is neutral, because prior art generally forbids neutral position sliding to improve drive safety, if working as front
Position is neutral, then shows that the driving purpose of current driver's is so that vehicle remains static.
Step S02, if it is, whether detection currently steps on brake pedal.
In the present embodiment, it can detect whether driver tramples brake pedal by brake pedal sensor, if driven
The person of sailing tramples brake pedal, then shows driver in operator seat, without carrying out automatic parking brake, if driver does not trample system
Dynamic pedal, then show that driver it is different may not to show that car slipping occurs for vehicle in operator seat, if now vehicle is moved
Often, it is necessary to carry out emergency brake.
It can determine whether Current vehicle occurs car slipping exception by step S01 and step S02.
Step S03, if it is not, then the travel direction flag demarcated in advance in the information sent according to wheel speed sensors
Level, judge vehicle whether forward car slipping or car slipping backward.
In the present embodiment, vehicle whether forward car slipping or car slipping backward, tool are judged using improved wheel speed sensors
Body, the level for the travel direction flag demarcated in advance in the information sent according to wheel speed sensors, judge vehicle whether to
Preceding car slipping or backward car slipping.Prior art judges that the direct of travel of vehicle usually relies on the modes such as GPS location, accuracy of detection
It is low, the requirement of walking direction when can not meet car slipping.The wheel speed sensors of prior art are generally used for obtaining the rotating speed of wheel,
Then speed etc. being calculated according to the rotating speed of wheel, in the present embodiment, wheel speed sensors can be not only used for the rotating speed of collection vehicle,
It can be also used for the moving direction of collection vehicle.In order to select suitable parking braking side according to the vehicle moving direction of collection
Formula.
Step S04, when car slipping backward, rear axle brake vi is controlled to carry out parking braking by electronics hand brake valve.
In the present embodiment, because the rear axle brake vi of vehicle is generally all disposed within rear axle, when vehicle car slipping backward,
Axle load is concentrated mainly on rear axle, therefore, parking braking function can be preferably realized by rear axle brake vi.
Step S05, when car slipping forward, rear axle brake vi is controlled to carry out parking braking by electronics hand brake valve, and lead to
Cross anti-blocking brake system solenoid valve control front brake and carry out parking braking.
In the present embodiment, because the rear axle brake vi of vehicle is generally all disposed within rear axle, when vehicle car slipping forward,
Axle load is concentrated mainly on front axle, and now if only with rear axle brake vi, parking effect may be bad, particularly with loading
Lorry, now if carrying out parking braking only with rear axle brake vi, braking effect may be caused bad.Therefore, using urgent
The brake being arranged on front axle of brakes coordinates rear axle brake vi preferably to ensure parking braking effect.
Further, the present invention can also judge whether vehicle is in after control front brake carries out parking braking
Inactive state, if it is, control front brake releases braking, next, it is determined that whether vehicle remains static, if not,
Then front brake is controlled to carry out parking braking.
In addition, when slipping by slope abnormal, can also be alarmed by alarm etc., such as light warning, sound report
Police, audio alert etc..
A kind of emergency vehicle method and system in slope provided by the invention, whether detection current shift is neutral；If it is,
Then whether detection currently steps on brake pedal, if it is not, then the traveling side demarcated in advance in the information sent according to wheel speed sensors
To the level of flag, vehicle whether forward car slipping or car slipping backward are judged；When car slipping backward, pass through electronics hand brake valve
Rear axle brake vi is controlled to carry out parking braking；When car slipping forward, rear axle brake vi is controlled to be stayed by electronics hand brake valve
Car is braked, and carries out parking braking by anti-blocking brake system solenoid valve control front brake.Due to according to wheel speed sensors
Whether the real time monitoring signals vehicle of transmission moves, and it is more accurate so to judge.Further, since the wheel speed sensors can also be sentenced
The moving direction of disconnected vehicle, so that the present invention, which can be directed to, slips by slope forward or slip by slope backward selection more suitably braking side
Formula, parking braking is carried out only with rear axle brake vi when such as slipping by slope backward, then while using back axle braking when slipping by slope forward
Device and brake hard two ways carry out parking braking, to solve because axle load reach causes rear axle brake vi braking effect bad
The problem of.
A kind of as shown in Fig. 2 flow for the determination method according to travel direction flag provided in an embodiment of the present invention
Figure.In the present embodiment, the travel direction flag demarcated in advance is demarcated may comprise steps of：
Travel direction flag demarcation is carried out in advance, and calibration process can include：
Step S21, there is provided wheel speed sensors, wheel speed sensors include：Gear ring and Hall sensor, gear ring include circle body and
The teeth portion being evenly distributed on circle body.Specifically, the wheel speed sensors of prior art can be used, are not limited herein.Such as Fig. 3
It is shown, it is a kind of structural representation of the active wheel speed sensor of prior art, the active wheel speed sensor passes through Hall
Hull voltage caused by effect generates two level：High level and low level.Thus can be according to high in the unit interval
The number that level or low level are sent calculates wheel speed.Its principle is that gear ring 1 ' ceaselessly rotates, when the teeth portion of gear ring 1 ' is close to suddenly
During your sensor 2 ', Hall sensor 2 ' exports a high level, when teeth groove is close to Hall sensor 2 ', Hall sensor 2 '
Produce a low level.
Step S22, on Hall sensor after electricity, in ring gear against rotation output believe with high level and low level square wave
Number.
In the present embodiment, high level and low level square-wave signal are debugged out first.As shown in figure 4, it is prior art
Active wheel speed sensor output square wave figure, wherein, two level of circuit output：High level I1 and low level I2, the ripple
Shape figure is square-wave waveform figure.Wherein, electric capacity plays a part of filtering, i.e., only defeated when level is in the upper and lower certain limit of I1 values
Go out a high level I1, when level is in the upper and lower certain limit of I2 values, only export a low level I2.For example, high level is
2.2mA, low level are that I2 is 1.1mA, then 1.1mA low level, level ＞ 1.6mA are exported in the range of level≤1.6mA
Export 2.2mA high level.
Step S23, increase the resistance value between hall sensor output and ground connection so that between high level and low level
Difference become big, and Hall sensor exports in ring gear against rotation has high level, middle level and low level square-wave signal, its
In, several middle level be present between adjacent two high level.
In the present embodiment, by adjusting the resistance value between hall sensor output and ground connection so that the Hall passes
Sensor can export the middle level that can characterize vehicle moving direction, in order to according to electrical level judging vehicle moving direction in this.Tool
Body, when resistance value is bigger, the level range value of Hall sensor output is bigger, you can is easy to obtaining outside low and high level
An intermediate level is obtained again, for example, by increasing resistance value so that Hall sensor exports 1.2mA low level, one
The middle level of individual 4.8mA high level, 2.4mA.Wherein, increase resistance after resistance size can be 80 Ω, 100 Ω,
120 Ω, 150 Ω etc..As shown in figure 5, it is the square wave figure exported according to Hall sensor provided in an embodiment of the present invention.Wherein,
8 middle level between high level be present：b1、b2、b3、b4、b5、b6、b7、b8.It is present in vehicle traveling direction in this in level
Consistent part.
Step S24, choose a middle level position corresponding with vehicle traveling direction from the opening position of several middle level and make
For travel direction flag.
In the present embodiment, because the rotation direction of gear ring and the direct of travel of vehicle have corresponding relation, for example, car
Gear ring rotates counterclockwise when moving forward, or gear ring rotates clockwise during forward travel, is then turned according to gear ring
Dynamic direction and the corresponding relation of each middle level, when the rotation direction of the height of the level of level position and gear ring has one in some
, then can be according to the rotation direction of the consistent middle electrical level judging gear ring, and then according to the rotation side of gear ring during cause property
To the travel direction for determining vehicle.
It should be noted that step S21 to step S24 can be after once demarcating, follow-up in use, according to this deutero-albumose
Result use is determined, without all being re-scaled during use every time.
During emergency vehicle stays slope, the traveling side of vehicle is determined according to the height of the level of travel direction flag
To.Specifically, therefore, can be with because the height of level of travel direction flag has uniformity with the travel direction of vehicle
The travel direction of vehicle is determined according to the height of the level of travel direction flag.For example, when the level of travel direction flag
For low level when, then may determine that vehicle is forward travel state, when the level of travel direction flag is high level, then can be sentenced
Disconnected vehicle is fallback state.Certainly, the travel direction of vehicle needs rotation direction and the vehicle traveling side of the gear ring according to reality
To corresponding relation be adjusted.
As shown in fig. 6, the another kind stream for the determination method according to travel direction flag provided in an embodiment of the present invention
Cheng Tu.
In the present embodiment, methods described also includes：Step S66, in debugging out after level, adjust the shape of teeth portion
So that the difference between middle level and high level, low level becomes big.
In the present embodiment, can by the Adjusting Shape stepped of teeth portion, the asymmetric shape in both sides and other it is contemplated that
Shape, if the shape of the teeth portion can cause difference between middle level and high level, low level to become big, and in this level and
The steering correlation of gear ring.
In a specific embodiment, teeth portion is shaped as：Clockwise surface configuration and anticlockwise table
Face shape differs.It can so make it that Hall sensor exports different square waves to gear ring, so towards during different direction rotations
Can determines the rotation direction of gear ring according to the square wave.
Further, teeth portion is shaped as：Clockwise surface configuration is concave surface, anticlockwise surface configuration
For plane；Or clockwise surface configuration is concave surface, anticlockwise surface configuration is convex surface；It is or square clockwise
To surface configuration be plane, anticlockwise surface configuration is convex surface；Or clockwise surface configuration is S-shaped arc
Face, anticlockwise surface configuration are plane.Three kinds of high level, middle level and low level level, middle electricity can so be formed
The flat rotation direction that can be used for characterizing gear ring, high level can be used for characterizing the velocity of rotation of gear ring, and a kind of sensor can be with
The collection of velocity of rotation and rotation direction is realized simultaneously.
As shown in fig. 7, to choose travel direction flag from several middle level according to provided in an embodiment of the present invention
A kind of flow chart of method.
In the present embodiment, it is shaped as with the teeth portion：Clockwise surface configuration is concave surface, counterclockwise
Surface configuration be plane exemplified by illustrate.The opening position from several middle level chooses one and vehicle traveling direction pair
The middle level position answered includes as travel direction flag：
Step S71, determine the number of the middle level between two adjacent high level.
Step S72, communication protocol being set, the level of level position corresponds to a byte in communication protocol in each,
The height of the level of each byte representation level position, wherein, middle level corresponding 1, low level corresponding 0.
Step S73, gear ring is rotated, compare the direction of each byte and ring gear against rotation in the signal of sensor output.
Step S74, if level position correspondence byte is 0 when ring gear against rotation direction is clockwise in some, and
Ring gear against rotation direction is 1 when being counterclockwise, then the byte can be used as travel direction flag.
Step S75, a conduct travel direction flag is chosen from the byte that can be used as travel direction flag.
In a specific embodiment, I0 is middle level, and in communication protocol, level corresponds to a Bit in each
(byte), each Bit can correspond to 0 or 1 binary code by the presence or absence of its level, according to each middle level position
Level height and ring gear against rotation direction uniformity, determine that a Bit therein is used to characterize the directionality of wheel speed sensors.
For example, the 3rd Bit b3 in Fig. 5 is used for the travel direction for characterizing vehicle, b3 sends code 0 during advance, sends generation during retrogressing
Code 1.B3 level is I0 when i.e. vehicle advances, and b3 level is I2 during retrogressing.
Correspondingly, present invention also offers emergency vehicle system in slope corresponding with the above method, as shown in figure 8, being root
According to a kind of structural representation of emergency vehicle system in slope provided in an embodiment of the present invention, including：
The shift sensor 2 that is connected respectively with electronic control unit 1, wheel speed sensors 3, electronics hand brake valve 4, braking are anti-
Locking system 5, brake pedal sensor 6 and temporary parking valve 51.
Shift sensor 2 is used to gather current shift information, and is sent to electronic control unit 1.
Brake pedal sensor 6 is used to gather whether step on brake pedal, and is sent to electronic control unit 1.
Wheel speed sensors 3 are used to the information of collection being sent to electronic control unit 1, wherein, what wheel speed sensors 3 were sent
Information comprises at least the level for the travel direction flag demarcated in advance.
Electronic control unit 1 is used to judge whether current shift is neutral, if it is, judging whether driver steps on braking
Pedal, if it is not, then the level for the travel direction flag demarcated in advance in the information sent according to wheel speed sensors 3, judges
Forward whether vehicle car slipping or car slipping backward, when car slipping backward, pass through electronics hand brake valve 4 and control rear axle brake vi to carry out
Parking braking, when car slipping forward, rear axle brake vi is controlled to carry out parking braking by electronics hand brake valve 4, and by interim
Shut-off valve control front brake carries out parking braking.
Electronics hand brake valve 4, spring energy-storage air chamber and the rear axle brake vi being sequentially connected with electronic control unit 1, electronics
When control unit 1 judges to need to carry out parking braking, parking message is sent, after electronics hand brake valve 4 receives parking message, is closed
The gas outlet of electronics hand brake valve 4 is closed, spring energy-storage air chamber is pressurized to control rear axle brake vi to carry out parking braking.
Anti-blocking brake system 5 includes：Gas receiver, preceding braking anti-lock magnetic valve, the preceding system being connected with preceding wheel cylinder
Dynamic device；Temporary parking valve 51 is connected between the gas receiver of anti-blocking brake system 5 and preceding anti-blocking brake system magnetic valve, electricity
When sub-control unit 1 judges to need front brake progress parking braking, the pressure of wheel cylinder before control temporary parking valve 51 increases
Power with control front brake carry out parking braking.As shown in figure 9, it is one kind according to brake piping provided in an embodiment of the present invention
Structural representation.
Specifically, as shown in Figure 10, it is according to a kind of circuit diagram of wheel speed sensors provided in an embodiment of the present invention
Wheel speed sensors 3 can include：Gear ring 31, Hall sensor 32, electric capacity 33, resistance 34 and regulation resistance 35, Hall sensor
The radial direction extended line of 32 probe is through the center of circle of gear ring 31 and is generally aligned in the same plane with gear ring 31, the electricity of Hall sensor 32
An in parallel electric capacity 33 between source and output end, the output end of Hall sensor 32 also respectively ground connection and with electronic control unit 1
It is connected, resistance 34 is connected between output end and the ground connection of Hall sensor 32.
Regulation resistance 35, it is connected between output end and the ground connection of Hall sensor 32, for increasing Hall sensor 32
Resistance value between output end and ground connection so that the difference between high level and low level becomes big, and causes Hall sensor 32
When gear ring 31 rotates, output has high level, middle level and low level square-wave signal, and electric capacity 33 strobes, wherein,
Several middle level be present between two adjacent high level.
Position corresponding to several middle level of the electronic control unit 1 from the square-wave signal of reception, choose one and vehicle row
It is then true according to the height of the level of travel direction flag as travel direction flag to enter middle level position corresponding to direction
Determine the travel direction of vehicle.
Further, in order that the difference obtained between high level, middle level and low level becomes apparent from, the gear ring 31
Including：Including circle body and the teeth portion being evenly distributed on circle body.The teeth portion be shaped such that middle level and high level, low level it
Between difference become big.
Wherein, the teeth portion is shaped as：Clockwise surface configuration and anticlockwise surface configuration not phase
Together.
Preferably, the teeth portion is shaped as：Clockwise surface configuration is concave surface, anticlockwise surface shape
Shape is plane；Or clockwise surface configuration is concave surface, anticlockwise surface configuration is convex surface；Or clockwise
The surface configuration in direction is plane, and anticlockwise surface configuration is convex surface；Or clockwise surface configuration is S-shaped
Cambered surface, anticlockwise surface configuration are plane.It should be noted that example provided above, is merely illustrative citing, not
It is understood that as limitation of the invention.
In addition, the electronic control unit 1 is additionally operable to enter by anti-blocking brake system solenoid valve control front brake
After row parking braking, judge whether vehicle remains static, if it is, control front brake releases braking, then, sentence
Whether disconnected vehicle remains static, if it is not, then control front brake carries out parking braking.
In another embodiment, the electronic control unit 1 is specifically used for：
During the setting of communication protocol：Determine the number of the middle level between two adjacent high level；To be each
One byte of individual middle level position setting, the height of the level of each byte representation level position, wherein, middle level corresponding 1,
Low level corresponding 0；When gear ring 31 rotates, the side that each byte and gear ring 31 rotate in the signal that Hall sensor 32 exports is compared
To uniformity, determine travel direction flag；Wherein, travel direction flag at least meets following condition：Byte is in gear ring
31 rotation directions are 0 when being clockwise, and are 1 when the rotation direction of gear ring 31 is counterclockwise.
During emergency vehicle stays slope：Electronic control unit 1 determines the row of vehicle according to the value of travel direction flag
Direction is sailed, wherein, when travel direction flag is 0, vehicle heading is to move forward；When travel direction flag is 1, car
Travel direction is travels backward.
Certainly, the system can also include warning device, when electronic control unit 1 judges car slipping currently occurs, control report
Alert unit is alarmed.
The emergency vehicle system in slope of the bright offer of this hair embodiment, including：The gear being connected respectively with electronic control unit 1
Sensor 2, wheel speed sensors 3, electronics hand brake valve 4 and anti-blocking brake system 5, brake pedal sensor 6 and stop temporarily
Car valve 51.The vehicle method in slope for solving the problems, such as prior art is efficiently solved using the present invention can not meet actual demand.
Each embodiment in this specification is described by the way of progressive, identical similar portion between each embodiment
Point mutually referring to.For system embodiment, because it is substantially similar to embodiment of the method, so describing
Fairly simple, the relevent part can refer to the partial explaination of embodiments of method.System embodiment described above is only to show
Meaning property, wherein the unit illustrated as separating component can be or may not be physically separate.Can root
Factually border needs to select some or all of module therein realize the purpose of this embodiment scheme.Ordinary skill
Personnel are without creative efforts, you can to understand and implement.
The embodiment of the present invention is described in detail above, embodiment used herein is carried out to the present invention
Illustrate, the explanation of above example is only intended to help to understand method and system of the invention；Meanwhile for the one of this area
As technical staff, according to the thought of the present invention, there will be changes in specific embodiments and applications, to sum up institute
State, this specification content should not be construed as limiting the invention.
Claims (10)
- A kind of 1. emergency vehicle method in slope, it is characterised in that including：Detect whether current shift is neutral；If it is, whether detection currently steps on brake pedal；If it is not, then the level for the travel direction flag demarcated in advance in the information sent according to wheel speed sensors, judges car Whether forward car slipping or backward car slipping；When car slipping backward, rear axle brake vi is controlled to carry out parking braking by electronics hand brake valve；When car slipping forward, rear axle brake vi is controlled to carry out parking braking by electronics hand brake valve, and pass through temporary parking valve Front brake is controlled to carry out parking braking, wherein, temporary parking valve is connected to gas receiver and preceding anti-blocking brake system magnetic valve Between.
- 2. according to the method for claim 1, it is characterised in that the demarcation travel direction flag bag demarcated in advance Include：Wheel speed sensors are provided, wheel speed sensors include：Gear ring and Hall sensor, gear ring include circle body and are evenly distributed on circle Teeth portion on body；On Hall sensor after electricity, being exported in ring gear against rotation has high level and low level square-wave signal；Increasing the resistance value between hall sensor output and ground connection so that the difference between high level and low level becomes big, And Hall sensor exports in ring gear against rotation has high level, middle level and low level square-wave signal, wherein, adjacent two Several middle level between individual high level be present；A middle level position corresponding with vehicle traveling direction is chosen as travel direction mark from the opening position of several middle level Know position.
- 3. according to the method for claim 2, it is characterised in that methods described also includes：In debugging out after level, adjust the difference that teeth portion is shaped such that between middle level and high level, low level and become big, Wherein, teeth portion after adjustment is shaped as：Clockwise surface configuration and anticlockwise surface configuration differ.
- 4. according to the method for claim 3, it is characterised in that teeth portion after adjustment is shaped as：Clockwise surface configuration is concave surface, and anticlockwise surface configuration is plane；OrClockwise surface configuration is concave surface, and anticlockwise surface configuration is convex surface；OrClockwise surface configuration is plane, and anticlockwise surface configuration is convex surface；OrClockwise surface configuration is S-shaped cambered surface, and anticlockwise surface configuration is plane.
- 5. according to the method for claim 4, it is characterised in that the teeth portion is shaped as：Clockwise surface shape Shape is concave surface, and anticlockwise surface configuration is plane；The opening position from several middle level chooses a middle level position corresponding with vehicle traveling direction and is used as traveling side Include to flag：Determine the number of the middle level between two adjacent high level；Communication protocol is set, the level of level position corresponds to a byte in communication protocol, each byte representation in each The height of the level of the level position, wherein, middle level corresponding 1, low level corresponding 0；Gear ring is rotated, compares the direction of each byte and ring gear against rotation in the signal of sensor output；If level position correspondence byte is 0 when ring gear against rotation direction is clockwise in some, and the byte turns in gear ring Dynamic direction is 1 when being counterclockwise, then the byte can be used as travel direction flag；One is chosen from the byte that can be used as travel direction flag and is used as travel direction flag.
- A kind of 6. emergency vehicle system in slope, it is characterised in that including：The shift sensor (2) that is connected respectively with electronic control unit (1), wheel speed sensors (3), electronics hand brake valve (4), system Dynamic anti-lock braking system (5), brake pedal sensor (6) and temporary parking valve (51)；Shift sensor (2) is used to gather current shift information, and is sent to electronic control unit (1)；Brake pedal sensor (6) is used to gather whether step on brake pedal, and is sent to electronic control unit (1)；Wheel speed sensors (3) are used to the information of collection being sent to electronic control unit (1), wherein, wheel speed sensors (3) are sent Information comprise at least the level of travel direction flag demarcated in advance；Electronic control unit (1) is used to judge whether current shift is neutral, if it is, judging whether driver steps on braking and step on Plate, if it is not, then the level for the travel direction flag demarcated in advance in the information sent according to wheel speed sensors (3), judges Forward whether vehicle car slipping or car slipping backward, when car slipping backward, control rear axle brake vi to enter by electronics hand brake valve (4) Row parking braking, when car slipping forward, rear axle brake vi is controlled to carry out parking braking by electronics hand brake valve (4), and pass through Temporary parking valve control front brake carries out parking braking；Electronics hand brake valve (4), spring energy-storage air chamber and the rear axle brake vi being sequentially connected with electronic control unit (1), electronics When control unit (1) judges to need to carry out parking braking, parking message is sent, electronics hand brake valve (4) receives parking message Afterwards, the gas outlet of electronics hand brake valve (4) is closed, spring energy-storage air chamber is pressurized to control rear axle brake vi to carry out parking braking；Anti-blocking brake system (5) includes：Gas receiver, preceding braking anti-lock magnetic valve, the preceding braking being connected with preceding wheel cylinder Device；Temporary parking valve (51) is connected between the gas receiver of anti-blocking brake system (5) and preceding anti-blocking brake system magnetic valve, When electronic control unit (1) judges to need front brake progress parking braking, braked wheel before control temporary parking valve (51) increase The pressure of cylinder with control front brake carry out parking braking.
- 7. system according to claim 6, it is characterised in that the wheel speed sensors (3) include：Gear ring (31), Hall sensor (32), electric capacity (33), resistance (34) and regulation resistance (35), Hall sensor (32) The radial direction extended line of probe is generally aligned in the same plane through the center of circle of gear ring (31) and with gear ring (31), Hall sensor (32) An electric capacity (33) in parallel between power end and output end, the output end of Hall sensor (32) is also grounded respectively and and Electronic Control Unit (1) is connected, and resistance (34) is connected between output end and the ground connection of Hall sensor (32)；Regulation resistance (35), it is connected between output end and the ground connection of Hall sensor (32), for increasing Hall sensor (32) resistance value between output end and ground connection so that the difference between high level and low level becomes big, and causes hall sensing Device (32) exports when gear ring (31) rotates has high level, middle level and low level square-wave signal, and electric capacity (33) plays filtering Effect, wherein, several middle level be present between adjacent two high level；Electronic control unit (1) is specifically used for position corresponding to several middle level from the square-wave signal of reception, choose one with Middle level position is as travel direction flag corresponding to vehicle traveling direction, then according to the level of travel direction flag Height determines the travel direction of vehicle.
- 8. system according to claim 7, it is characterised in that the gear ring (31) includes：Circle body and it is evenly distributed on circle Teeth portion on body；The teeth portion is shaped such that the difference between middle level and high level, low level becomes big；The teeth portion is shaped as：Clockwise surface configuration and anticlockwise surface configuration differ.
- 9. system according to claim 8, it is characterised in that the shape of the teeth portion includes：Clockwise surface configuration is concave surface, and anticlockwise surface configuration is plane；OrClockwise surface configuration is concave surface, and anticlockwise surface configuration is convex surface；OrClockwise surface configuration is plane, and anticlockwise surface configuration is convex surface；OrClockwise surface configuration is S-shaped cambered surface, and anticlockwise surface configuration is plane.
- 10. system according to claim 9, it is characterised in that the teeth portion is shaped as：Clockwise surface shape Shape is concave surface, and anticlockwise surface configuration is plane；The electronic control unit (1) is specifically used for：During the setting of communication protocol：Determine the number of the middle level between two adjacent high level；For in each One byte of level position setting, the height of the level of each byte representation level position, wherein, middle level corresponding 1, low electricity Flat corresponding 0；When gear ring (31) rotates, compare what each byte and gear ring (31) in the signal of Hall sensor (32) output rotated The uniformity in direction, determine travel direction flag；Wherein, travel direction flag at least meets following condition：Byte is in tooth It is 0 to enclose when (31) rotation direction is clockwise, and is 1 when gear ring (31) rotation direction is counterclockwise；During emergency vehicle stays slope：Electronic control unit (1) determines the traveling of vehicle according to the value of travel direction flag Direction, wherein, when travel direction flag is 0, vehicle heading is to move forward；When travel direction flag is 1, vehicle Travel direction is to travel backward.
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| CN201611177039.6A CN107336700B (en) | 2016-12-19 | 2016-12-19 | A kind of emergency vehicle method and system in slope |
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|---|---|---|---|
| CN201611177039.6A CN107336700B (en) | 2016-12-19 | 2016-12-19 | A kind of emergency vehicle method and system in slope |
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| CN201611177039.6A Expired - Fee Related CN107336700B (en) | 2016-12-19 | 2016-12-19 | A kind of emergency vehicle method and system in slope |
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| CN107336700B (en) | 2019-05-21 |
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